I have the same problem with intermitant ABS failure, mine is the new shape 56 plate dynamic and has been doing it for the last 6 months. I have a friend that has the same model and it has the same problem. I ususally only do short runs, and have been away camping recently and have run a cool box over night which has lowered the battery (it automaticaly switches off when the battery voltages drops so far) and when starting on a morning the engineer would start but the ABS failure come on, but the ABS system still works. So it could be either that the battery voltage is low at start up so causing the ABS computer not the be able to work correctly, or there is a bad connection some where.
I have just recently had the same problem of the engine imobiliser light coming on when strating (but this has only happen once) and the engine was running OK.